Stapling assembly including motor drive systems

ABSTRACT

A stapling assembly comprising a proximal end, a distal end, a first jaw, a second jaw, a staple cartridge, a first motor-driven system, and a second motor-driven system is disclosed. The first jaw comprises a first bottom surface. The second iaw is rotatably coupled to the first iaw about a pivot and is movable between an unclamped position and a fully-clamped position. The second jaw comprises a second bottom surface. The staple cartridge comprises a plurality of staples removably stored therein. The first motor-driven system is configured to engage the second bottom surface of the second iaw to move the second iaw toward the fully-clamped position. The second motor-driven system is configured to engage the second jaw and the first bottom surface of the first jaw and hold the second jaw in the fully-clamped position. The second motor-driven system is actuatable after the first motor-driven system has been actuated.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 12/820,820, entitledENDOSCOPIC SURGICAL INSTRUMENT WITH A HANDLE THAT CAN ARTICULATE WITHRESPECT TO THE SHAFT, filed Jun. 22, 2010, which issued on Mar. 22, 2016as U.S. Pat. No. 9,289,225, which is a divisional application claimingpriority under 35 U.S.C. § 121 to U.S. patent application Ser. No.11/343,547, entitled ENDOSCOPIC SURGICAL INSTRUMENT WITH A HANDLE THATCAN ARTICULATE WITH RESPECT TO THE SHAFT, filed Jan. 31, 2006, whichissued on Jul. 13, 2010 as U.S. Pat. No. 7,753,904, the entiredisclosures of which are hereby incorporated by reference herein.

The present application is also related to the following U.S. patentapplications, which are incorporated herein by reference in theirentirety:

U.S. patent application Ser. No. 11/343,498, entitled MOTOR-DRIVENSURGICAL CUTTING AND FASTENING INSTRUMENT WITH USER FEEDBACK SYSTEM, nowU.S. Pat. No. 7,766,210;

U.S. patent application Ser. No. 11/343,573, entitled MOTOR-DRIVENSURGICAL CUTTING AND FASTENING INSTRUMENT WITH LOADING FORCE FEEDBACK,now U.S. Pat. No. 7,416,101;

U.S. patent application Ser. No. 11/344,035, entitled MOTOR-DRIVENSURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITIONFEEDBACK, now U.S. Pat. No. 7,422,139;

U.S. patent application Ser. No. 11/343,447, entitled MOTOR-DRIVENSURGICAL CUTTING AND FASTENING INSTRUMENT WITH ADAPTIVE USER FEEDBACK,now U.S. Pat. No. 7,770,775;

U.S. patent application Ser. No. 11/343,562, entitled MOTOR-DRIVENSURGICAL CUTTING AND FASTENING INSTRUMENT WITH ARTICULATABLE ENDEFFECTOR, now U.S. Pat. No. 7,568,603;

U.S. patent application Ser. No. 11/344,024, entitled MOTOR-DRIVENSURGICAL CUTTING AND FASTENING INSTRUMENT WITH MECHANICAL CLOSURESYSTEM, now U.S. Pat. No. 8,186,555;

U.S. patent application Ser. No. 11/343,321, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, nowU.S. Patent Application Publication No. 2007/0175955;

U.S. patent application Ser. No. 11/343,563, entitled GEARING SELECTORFOR A POWERED SURGICAL CUTTING AND FASTENING STAPLING INSTRUMENT, nowU.S. Patent Application Publication No. 2007/0175951;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 11/344,020, entitled SURGICALINSTRUMENT HAVING A REMOVABLE BATTERY, now U.S. Pat. No. 7,464,846;

U.S. patent application Ser. No. 11/343,439, entitled ELECTRONICLOCKOUTS AND SURGICAL INSTRUMENT INCLUDING SAME, now U.S. Pat. No.7,644,848;

U.S. patent application Ser. No. 11/344,021, entitled ELECTRO-MECHANICALSURGICAL CUTTING AND FASTENING INSTRUMENT HAVING A ROTARY FIRING ANDCLOSURE SYSTEM WITH PARALLEL CLOSURE AND ANVIL ALIGNMENT COMPONENTS, nowU.S. Pat. No. 7,464,849;

U.S. patent application Ser. No. 11/343,546, entitled DISPOSABLE STAPLECARTRIDGE HAVING AN ANVIL WITH TISSUE LOCATOR FOR USE WITH A SURGICALCUTTING AND FASTENING INSTRUMENT AND MODULAR END EFFECTOR SYSTEMTHEREFOR, now U.S. Patent Application Publication No. 2007/0175950; and

U.S. patent application Ser. No. 11/343,545, entitled SURGICALINSTRUMENT HAVING A FEEDBACK SYSTEM, now U.S. Pat. No. 8,708,213.

BACKGROUND

The present invention generally concerns endoscopic surgical instrumentsand, more particularly, powered endoscopic surgical instruments.

DRAWINGS

Various embodiments of the present invention are described herein by wayof example in conjunction with the following figures, wherein likenumeral may be used to describe like parts and wherein:

FIG. 1 is a perspective view of a surgical instrument embodiment of thepresent invention;

FIG. 2 is another perspective view of the surgical instrument of FIG. 1with the end effector thereof inserted into a trocar;

FIG. 3 is an exploded assembly view of an end effector embodiment of thepresent invention;

FIG. 4 is another exploded assembly view showing an end effector, driveshaft assembly and elongated shaft assembly of various embodiments ofthe present invention;

FIG. 5A is a cross-sectional view of and end effector and the distalportions of a drive shaft assembly and elongated shaft assembly ofvarious embodiments of the present invention;

FIG. 5B is an enlarged cross-sectional view of the articulation joint ofvarious embodiments of the present invention;

FIG. 6 is an exploded assembly view of an elongated shaft assembly anddrive shaft assembly of various embodiments of the present invention;

FIG. 7 is an exploded assembly view of a control handle of variousembodiments of the present invention;

FIG. 8 is an exploded perspective view of an elongated shaft assemblyand a drive shaft assembly of another embodiment of the presentinvention;

FIG. 9 is an exploded assembly view of the articulation joint of thedrive shaft assembly depicted in FIG. 8;

FIG. 10 is a partial perspective view of the drive shaft articulationjoint and proximal and distal drive shaft portions of variousembodiments of the present invention;

FIGS. 11A-B illustrate a torsion cable that may be employed at thearticulation point between the distal and proximal drive shaft portionsof various embodiments of the present invention;

FIG. 12 is a partial cross-sectional view of a locking assemblyarrangement of various embodiments of the present invention;

FIG. 13 is an end cross-sectional view of the locking assemblyarrangement depicted in FIG. 12;

FIG. 14 is a perspective view of a push button assembly of variousembodiments of the present invention;

FIG. 15 is an exploded assembly view of the pushbutton assembly of FIG.14;

FIG. 16 is a partial plan view of a locking assembly arrangement ofvarious embodiments of the present invention, with some of thecomponents shown in cross-section;

FIG. 17 is a front perspective view of a handle assembly that may beemployed with various embodiments of the present invention with aportion of the housing removed to illustrate the components therein;

FIG. 18 is an exploded assembly view of a gear arrangement that may beemployed in various embodiments of the present invention;

FIG. 19 is a side view of a drive arrangement that may be employed inconnection with various embodiments of the present;

FIG. 20 is another side view of the drive arrangement of FIG. 19;

FIG. 21 is a rear perspective view of the drive arrangement of FIGS. 19and 20;

FIG. 22 is a front perspective view of the drive arrangement of FIGS.19-21;

FIG. 23 is a perspective view of a surgical cutting and fasteninginstrument that can employ various end effector embodiments and staplecartridge embodiments of the present invention;

FIG. 24 is a perspective view of an end effector embodiment of thepresent invention in a closed position;

FIG. 25 is a perspective view of the end effector of FIG. 24 in an openposition;

FIG. 26 is an exploded assembly view of an end effector embodiment ofthe present invention;

FIG. 27 is a cross sectional view of an end effector embodiment of thepresent invention supporting a staple cartridge therein with some of thecomponents thereof omitted for clarity;

FIG. 28 is a partial top view of a staple cartridge that may be employedin connection with various embodiments of the present invention;

FIG. 29 is a partial cross-sectional view of a staple cartridge and endeffector embodiment of the present invention illustrating the firing ofstaples into tissue clamped in the end effector;

FIG. 30 is a bottom perspective view of a portion of an end effectorembodiment of the present invention supporting a staple cartridgetherein;

FIG. 31 is a partial perspective view of an end effector embodiment ofthe present invention supporting a staple cartridge therein;

FIG. 32 is a perspective view of a distal drive shaft portion of variousembodiments of the present invention;

FIG. 33 is a cross-sectional view of the distal drive shaft portion ofFIG. 32;

FIG. 34 is a cross-sectional view of the distal drive shaft portion andclosure nut with the closure nut in an open position;

FIG. 35 is another cross-sectional view of the distal drive shaftportion and closure nut with the closure nut in the closed position;

FIG. 36 is a perspective view of a tapered clutch member of variousembodiments of the present invention;

FIG. 37 is a cross-sectional view of the tapered clutch member of FIG.36;

FIG. 38 is a perspective view of a clutch plate of various embodimentsof the present invention;

FIG. 39 is a cross-sectional view of the clutch plate of FIG. 38;

FIG. 40 is a perspective view of a closure nut of various embodiments ofthe present invention;

FIG. 41 is a cross-sectional view of the closure nut of FIG. 40;

FIG. 42 is a side elevational view of various end effector embodimentsof the present invention in an open position;

FIG. 43 is an enlarged partial cut away view of the end effector of FIG.42;

FIG. 44 is another enlarged partial cutaway view of the end effector ofFIG. 42;

FIG. 45 is a side elevational view of an end effector of the presentinvention in an open position clamping a piece of tissue therein;

FIG. 46 is an enlarged partial cut away view of the end effector of FIG.45;

FIG. 47 is a side elevational view of various end effector embodimentsof the present invention prior to being actuated to a closed position;

FIG. 48 is an enlarged partial cut away view of the end effector of FIG.47;

FIG. 49 is a side elevational view of various end effector embodimentsof the present invention in a closed position;

FIG. 50 is an enlarged partial cut away view of the end effector of FIG.49;

FIG. 51 is another enlarged partial cut away view of the end effector ofFIGS. 49 and 50;

FIG. 52 is a cross-sectional view of the end effector of FIGS. 49-51after the knife assembly has been driven to its distal-most position;

FIG. 53 is a cross-sectional view of the end effector of FIGS. 49-51;

FIG. 54 is a partial enlarged view of a portion of an end effector ofthe present invention;

FIG. 55 is a cross-sectional view of a control handle of variousembodiments of the present invention;

FIG. 56 is a partial cross-sectional view of a portion of another endeffector embodiment of the present invention in an open position; and

FIG. 57 is a partial cross-sectional view of the end effector of FIG. 56in a closed position.

DETAILED DESCRIPTION

FIGS. 1 and 2 depict a surgical stapling and severing instrument 10 thatis capable of practicing the unique benefits of the present invention.The surgical stapling and severing instrument 10 comprises a handle 6,an elongated “shaft” or closure tube assembly 1000, and an end effector12 that is operably coupled to the closure tube assembly 1000. In theillustrated embodiment, the end effector 12 is configured to act as anendocutter for clamping, severing and stapling tissue, although, inother embodiments, different types of end effectors may be used, such asend effectors for other types of surgical devices, such as graspers,cutters, staplers, clip appliers, access devices, drug/gene therapydevices, ultrasound, RF or laser devices, etc. While the surgicalstapling and severing instrument 10 is depicted as a motor driven or“powered instrument”, as the present Detailed Description proceeds, theskilled artisan will appreciate that the unique and novel aspects of thepresent invention may also be effectively employed in connection withsurgical stapling and severing instruments and still other endoscopicsurgical instruments that employ mechanical (unpowered) systems foroperating the end effector portion thereof without departing from thespirit and scope of the present invention.

The handle 6 of the instrument 10 may include a closure trigger 18 and afiring trigger 20 for actuating the end effector 12. It will beappreciated that instruments having end effectors directed to differentsurgical tasks may have different numbers or types of triggers or othersuitable controls for operating an end effector. The end effector 12includes in this example, among other things, a staple channel 22 and apivotally translatable anvil 24, which are maintained at a spacing thatassures effective stapling and severing of tissue clamped in the endeffector 12. The handle 6 includes a pistol grip 26 toward which aclosure trigger 18 is pivotally drawn by the clinician to cause clampingor closing of the anvil 24 toward the staple channel 22 of the endeffector 12. The firing trigger 20 is farther outboard of the closuretrigger 18. Once the closure trigger 18 is locked in the closureposition as further described below, the firing trigger 20 may bepivotally drawn by the clinician to cause the stapling and severing ofclamped tissue in the end effector 12.

It will be appreciated that the terms “proximal” and “distal” are usedherein with reference to a clinician gripping the handle 6 of aninstrument 10. Thus, the end effector 12 is distal with respect to themore proximal handle 6. It will be further appreciated that, forconvenience and clarity, spatial terms such as “vertical” and“horizontal” are used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and absolute.

Closure trigger 18 may be actuated first. Once the clinician issatisfied with the positioning of the end effector 12, the clinician maydraw back the closure trigger 18 to its fully closed, locked positionproximate to the pistol grip 26. The firing trigger 20 may then beactuated. The firing trigger 20 returns to the open position (shown inFIGS. 1 and 2) when the clinician removes pressure, as described morefully below. A release button 30 on the handle 6, and in this example,on the pistol grip 26 of the handle, when depressed may release thelocked closure trigger 18.

FIG. 3 is an exploded view of one end effector 12 according to variousembodiments. As shown in the illustrated embodiment, the end effector 12may include, in addition to the previously mentioned channel 22 andanvil 24, a knife and sled driving member 32, a staple cartridge 34, ahelical screw shaft 36 and a bearing 38 that is attached to the channelstructure 22. The anvil 24 may be pivotably connected to the channel 22at a proximate pivot point. In one embodiment, for example, the anvil 24includes laterally projecting pivot pins 25 at its proximal end thatpivotally engage pivot apertures 23 formed near the proximal end of thechannel 22. As will be discussed in further detail below, when theclosure trigger 18 is actuated, that is, drawn in by a user of theinstrument 10, the pivot pins 25 of the anvil 24 may pivot within thepivot apertures 23 in the channel 22 about the pivot point into theclamped or closed position. If clamping of the end effector 12 issatisfactory, the operator may actuate the firing trigger 20, which, asexplained in more detail below, causes the knife/sled driving member 32to travel along the channel 22, thereby cutting tissue clamped withinthe end effector 12.

FIG. 4 is an exploded assembly view of an elongated closure tubeassembly 1000, a drive shaft assembly 1200 and an end effector 12 of oneembodiment of the present invention. FIG. 5 is a cross-sectional view ofa cartridge 34 and distal portions of the elongated shaft assembly andthe drive shaft assembly. FIG. 6 is another exploded assembly view ofthe elongated closure tube assembly 1000 and drive shaft assembly 1200.FIG. 7 illustrates the interface between the elongated closure tubeassembly 1000 and the control handle 6. Turning to FIGS. 4 and 5, it canbe seen that one embodiment of an elongated closure tube assembly 1000includes a distal closure tube segment 1010 that has a “second” distalend 1012 and a “second” proximal end 1014.

In various embodiments, the distal closure tube segment 1010 has aU-shaped window 1016 in its distal end 1012. Such U-shaped window 1016is adapted to engage an upstanding closure tab 27 formed on the anvil24. See FIG. 4. Thus, when the distal closure tube segment 1010 is movedin the distal direction (arrow “A”), it contacts the closure tab 27 andcauses the anvil 24 to pivot to a closed position. When the distalclosure tube segment 1010 is moved in the proximal direction (arrow “B”)it contacts the closure tab 27 and causes the anvil 24 to pivot to anopen position (away from the channel 22).

As can be seen in FIGS. 4 and 6, the elongated closure tube assembly1000 further includes a proximal closure tube segment 1030 that has aproximal end 1032 and a distal end 1034. The proximal end 1032 of theproximal closure tube segment 1030 is articulatably coupled to thedistal end 1014 of the distal closure tube segment 1010 by anarticulation joint generally designated as 1050. More specifically andwith reference to FIGS. 5A, 5B and 6, articulation joint 1050 comprisesin various embodiments a first upper tab 1036 protruding from the distalend 1034 of the proximal closure tube segment 1030 and a first lower tab1038 protruding from the distal end 1034 of the proximal closure tubesegment 1030 in spaced relation to the first upper tab 1036. The firstupper tab 1036 has a first upper pivot hole 1037 therethrough and thefirst lower tab 1038 has a first lower pivot hole 1039 therethrough thatis coaxially aligned with the first upper hole 1037 in variousembodiments. Similarly, the proximal end 1014 of the proximal shaftsegment 1010 has a second upper tab 1020 protruding therefrom and asecond lower tab 1022 protruding therefrom in spaced relation to thesecond upper tab 1020. The second upper tab 1020 has a second upperpivot hole 1021 therethrough and the second lower tab 1022 has a secondlower pivot hole 1023 therethrough that is substantially coaxiallyaligned with the second upper pivot hole 1021. See FIG. 5B.

In various embodiments, the articulation joint 1050 further includes anupper double pivot link 1060 that has a first upper pin 1062 and asecond upper pin 1064 protruding therefrom. The first upper pin 1062 issized to be pivotally received in the first upper pivot hole 1037 andthe second upper pin 1064 is sized to be pivotally received in thesecond upper pivot hole 1021. The upper double pivot link 1060 isretained in position between the proximal end 1014 of the distal closuretube segment 1010 and the distal end 1034 of the proximal closure tubesegment 1030 by the proximal spine tube segment 1100 and the distalspine tube segment 1130. The articulation joint 1050 further includes alower double pivot link 1070 that has a first lower pin 1072 and asecond lower pin 1074 protruding therefrom. The first lower pin 1072 issized to be pivotally received within the first lower pivot hole 1039and the second lower pin 1074 is sized to be pivotally received in thesecond lower pivot hole 1023. See FIG. 5B. The lower double pivot link1070 is retained in position between the proximal end 1014 of the distalclosure tube segment 1010 and the distal end 1034 of the proximalclosure tube segment 1030 by the proximal spine tube segment 1100 andthe distal spine tube segment 1130.

When the upper double pivot link 1060 and the lower double pivot link1070 are attached to the proximal end 1014 of the distal closure tubesegment 1010 and the distal end 1034 of the proximal closure tubesegment 1030, the first upper pin 1062 and the first lower pin 1072 arecoaxially aligned along a first pivot axis D-D that, in variousembodiments, may be substantially transverse to an elongated shaft axisC-C that extends through the elongated closure tube assembly 1000. SeeFIG. 5A. Likewise, the second upper pivot pin 1064 and the second lowerpivot pin 1074 are coaxially aligned along a second pivot axis E-E. Invarious embodiments, the second pivot axis E-E is substantiallytransverse to the elongated shaft axis C-C and substantially parallel tothe first pivot axis D-D. The reader will appreciate that sucharrangement permits the proximal closure tube segment 1030 to pivotrelative to the distal closure tube segment 1010 about pivot axes D-Dand E-E.

As can be seen in FIGS. 6 and 7, the proximal end 1032 of the proximalclosure tube segment 1030 has an attachment groove formed around itscircumference to enable it to be coupled to a carriage assembly 255 thatis supported within the control handle 6 for imparting axial travel ofthe shaft assembly 1000 in the distal and proximal directions A, Brespectively, as will be discussed in further detail below.

Various embodiments of the present invention further include anelongated spine tube assembly, generally designated as 1100 that extendsthrough the elongated closure tube assembly 1000 to support variouscomponents of the drive shaft assembly 1200 therein. In variousembodiments, the elongated spine tube assembly 1100 comprises a proximalspine tube segment 1110 that has a proximal end 1112 and a distal end1114. The proximal end 1112 is adapted to be coupled to an attachmentbar 260 located within the control handle 6 which will be discussed infurther detail below.

As can be seen in FIG. 6, the distal end 1114 of the proximal spine tubesegment 1110 has a lower pivot tab 1120 protruding therefrom, thepurpose of which will be discussed in further detail below. As can alsobe seen in FIG. 6, the proximal spine tube segment 1110 has a firstaxially extending drive shaft hole 1116 extending therethrough forreceiving a portion of the drive shaft assembly 1200 therein as willalso be further discussed below.

The elongated spine assembly 1100 also includes a distal spine tubesegment 1130 that has a proximal end 1132 and a distal end 1134. Thedistal spine tube segment 1130 has an axially extending drive shaft hole1136 therethrough. The distal end 1134 of the distal spine tube segment1130 is also constructed for attachment to the channel 22. In oneembodiment, for example, the distal end 1134 of the distal spine tubesegment 1130 may be formed with a pair of attachment columns 1138 thatare adapted to be retainingly engaged in slots 29 formed in an end ofthe channel 22. See FIG. 3. The attachment columns 1138 may be retainedwithin the slots 29 due to the distal spine segment 1130 being containedwithin the distal closure tube segment 1010 which forces both thechannel 22 and the distal spine segment 1130 to always have the samecenterline and such that the distal end 1134 of the proximal spine tubesegment 1130 is rigidly coupled to the channel 22. The reader willunderstand that the elongated spine tube assembly 1100 is sized relativeto the elongated closure tube assembly 1000 such that the elongatedclosure tube assembly 1000 can freely move axially thereon.

As can be seen in FIGS. 4-6, the drive shaft assembly 1200 is operablysupported within the elongated spine tube assembly 1100 which issupported within the elongated closure tube assembly 1000. In variousembodiments, the drive shaft assembly 1200 comprises proximate driveshaft portion 1202, a drive shaft articulation joint 1220 and a distaldrive shaft portion 1210. The proximal drive shaft portion 1202 is sizedto extend through the elongated drive shaft hole 1116 in the proximalspine tube segment 1110 and may be rotatably supported therein by abearing 1203. The proximal drive shaft portion 1202 has a proximal end1204 and a distal end 1206.

The distal drive shaft portion 1210 is sized to extend through the driveshaft hole 1136 in the distal spine tube segment 1130 and be rotatablysupported therein by a bearing 1207. See FIG. 5B. The distal drive shaft1210 has a proximal end 1212 and a distal end 1214. The distal end 1214has a drive gear 1216 attached thereto that is in meshing engagementwith a gear 56 attached to the helical screw shaft 36. See FIG. 5A.

In one embodiment depicted in FIGS. 4-6, the drive shaft articulationjoint 1220 comprises a first proximal bevel gear 1222 attached to thedistal end 1206 of the proximal drive shaft portion 1202. A clearanceopening 1122 is provided through the first lower pivot tab 1120 toenable the first proximal bevel gear 1222 to rotate relative thereto.This embodiment of the drive shaft articulation joint 1220 furtherincludes a first distal bevel gear 1224 attached to the proximal end1212 of the distal drive shaft portion 1210. An opening 1137 is providedthrough the second lower pivot tab 1135 protruding from the proximal end1132 of the distal spine tube segment 1130 to enable the first distalbevel gear 1224 to freely rotate relative to the second lower pivot tab1135. Also in this embodiment, the drive shaft articulation joint 1220comprises a central bevel gear 1226 that is mounted to a shaft 1228 thatis pivotally mounted in pivot hole 1124 formed in the first lower pivottab 1120 and a pivot hole 1124′ formed in the second lower pivot tab1135. See FIG. 5B. The reader will appreciate that the shaft 1228 servesto pivotally couple the distal end 1114 of the proximal spine tubesegment 1110 to the proximal end 1132 of the distal spine tube segment1130. The central bevel gear 1226 is supported in meshing engagementwith the first distal bevel gear 1224 and the first proximal bevel gear1222 such that rotation of the proximal drive shaft portion 1202 istransmitted to the distal drive shaft portion 1210 through the driveshaft articulation joint 1220 while facilitating articulatable movementof the drive shaft assembly 1200 when the proximal closure tube segment1030 of the elongated closure tube assembly 1000 is articulated relativeto the distal closure tube segment 1010 thereof.

FIGS. 8-10 illustrate an alternative drive shaft articulation joint 1300that may be employed to facilitate substantial universal travel of theproximal drive shaft portion 1202 relative to the distal drive shaftportion 1210. The elongated closure tube assembly 1000 and the elongatedspine tube assembly 1100 may be constructed and operate in the mannerdescribed above. Turning to FIGS. 8 and 10, in this embodiment, thefirst lower pivot tab 1120 on the proximal spine tube segment 1110 ispivotally coupled to the second lower pivot tab 1135 on the distal spinetube segment 1130 by a vertical pivot pin 1139. More specifically, thepivot pin 1139 is pivotally received with pivot hole 1124 in the firstlower pivot tab 1120 and another pivot hole (not shown) in the secondlower pivot tab 1135 to facilitate pivotal travel of the proximal spinetube segment 1110 relative to the distal spine tube segment 1130 about apivot axis G-G which is defined by pivot pin 1139.

Also in this embodiment, the drive shaft articulation joint 1300comprises universal joint 1310 that includes a central joint body 1312that is pivotally coupled to a proximal yoke member 1314 and a distalyoke member 1316. As indicated in the above description, the distal end1206 of the proximal drive shaft portion 1202 is rotatably supported inthe proximal spine tube segment 1110 by a bearing 1203. The proximalyoke assembly 1314 is attached to the distal end 1206 of the proximaldrive shaft portion 1202 and is constructed to pivotally receive a pairof proximal pivot pins 1318 that are attached to or otherwise formed inthe central joint body 1312. Such proximal pivot pins 1318 facilitatepivotal travel of the central joint body 1312 relative to the proximaldrive shaft portion 1202 about a proximal pivot axis H-H which may besubstantially transverse to the elongated shaft axis C-C.

Similarly, the distal yoke member 1316 is attached to the proximal end1212 of the distal drive shaft portion 1210. The distal yoke member 1316is adapted to pivotally receive a pair of distal pivot pins 1320attached to or otherwise formed in the central joint body 1312. Suchdistal pivot pins 1320 facilitate pivotal travel about a distal pivotaxis I-I that is substantially transverse to the proximal pivot axis H-Hand the elongated shaft axis C-C.

FIGS. 11A and 11B, illustrate yet another drive shaft articulationarrangement of the present invention that may be employed to facilitatesubstantial universal travel of the proximal drive shaft portion 1202relative to the distal drive shaft portion 1210. In this embodiment, atorsion cable 1390 is attached between the proximal end 1212 of thedistal drive shaft portion 1210 and the distal end 1206 of the proximaldrive shaft portion 1210 to permit the proximal drive shaft portion 1202to articulate relative to the distal drive shaft portion 1210.

Components of an exemplary closure system for closing (or clamping) theanvil 24 of the end effector 12 by retracting the closure trigger 18 arealso shown in FIG. 7. In the illustrated embodiment, the closure systemincludes a yoke 250 connected to the closure trigger 18. A pivot pin 252is inserted through aligned openings in both the closure trigger 18 andthe yoke 250 such that they both rotate about the same point. The distalend of the yoke 250 is connected, via a pin 254, to a first portion 256of the closure bracket 255. The first closure bracket portion 256connects to a second closure bracket portion 258. Collectively, theclosure bracket 255 defines an opening in which the proximal end 1032 ofthe proximal closure tube segment 1030 is seated and held such thatlongitudinal movement of the closure bracket 255 causes longitudinalmotion by the proximal closure tube segment 1030 (and ultimately theelongated closure tube assembly 1000). The instrument 10 also includes aclosure rod 260 disposed inside the proximal closure tube 1030. Theclosure rod 260 may include a window 261 into which a post 263 on one ofthe handle exterior pieces, such as exterior lower side piece 59 in theillustrated embodiment, is disposed to fixedly connect the closure rod260 to the handle 6. In that way, the proximal closure tube segment 1030is capable of moving longitudinally relative to the closure rod 260. Theclosure rod 260 may also include a distal collar 267 that fits into acavity 1111 in the proximal end 1112 of the proximal spine tube segment1110 and is retained therein by a cap 1113 (see FIGS. 6-8 and 12).

In operation, when the yoke 250 rotates due to retraction of the closuretrigger 18, the closure bracket 255 causes the proximal closure tubesegment 1030 to move proximately (i.e., toward the handle end of theinstrument 10), which causes the distal closure tube segment 1010 tomove proximately. Because the tab 27 extends through the window 45 ofthe distal closure tube segment 1010, the tab 27 causes the anvil toopen when the distal closure tube moves proximately. When the closuretrigger 18 is unlocked from the locked position, the proximal closuretube segment 1030 is caused to slide distally, which causes the distalclosure tube segment 1010 to slide distally. The distal closure tubesegment 1010 forces the anvil 24 closed by driving it distally byinteracting with a closure lip 27′ that is distal to tab 27. Furtherclosure is accomplished since the distal movement of the anvil 24 forcesthe anvil pin 25 to move distally up the cam slot 23 in the channel 22,creating compressive loads through this camming action and the hoopconstraint of distal closure tube segment 1010 around the two parts. Inthat way, by retracting and locking the closure trigger 18, an operatormay clamp tissue between the anvil 24 and the cartridge 34 mountedwithin the channel 22, and may unclamp the tissue following thecutting/stapling operation by unlocking the closure trigger 20 from thelocked position.

As shown in FIG. 2, the end effector 12 and the distal end 1012 of thedistal closure tube segment are sized to be inserted through a trocarassembly 900 into the patient. Such trocar assemblies are known in theart and therefore, its construction and operation are not discussed indetail herein. For example, U.S. Pat. No. 6,017,356, entitled METHOD FORUSING A TROCAR FOR PENETRATION AND SKIN INCISION, the disclosure ofwhich is herein incorporated by reference in its entirety disclosesvarious trocar assemblies. The reader will, of course, appreciate,however, that the various embodiments of the present invention may beeffectively employed with a variety of different trocar, cannula, etc.arrangements without departing from the spirit and scope of the presentinvention. Therefore, the various embodiments of the present inventionand their equivalent structures should not in any way be limited to usewith the specific type of trocar described herein by way of example.

As can be seen in FIG. 2, the trocar assembly 900 includes a cannulaassembly 902 that is attached to a cannula housing 904. The end effector12 and the distal end 1012 of the distal closure tube segment 1010 aresized to be inserted through the cannula housing 904 and cannulaassembly 902 into the patient. Depending upon the procedure to beperformed and the location of the organs to be operated on, variouslengths of the distal closure tube segment 1010 may be inserted into thetrocar 900. That portion of the closure tube assembly 1000 that isadapted to be inserted into the trocar 900 is referred to herein as the“distal portion” 1002 and could conceivably comprise substantially allof the distal closure tube segment 1010 up to the proximal end 1014 suchthat the articulation joint 1050 remains external to the trocar 900 andis operable to permit the surgeon or clinician to articulate the handle6 relative to the distal portion 1002 in the trocar. The reader willfurther appreciate that the distal portion 1002 may comprise somewhatless than the entire length of the distal closure tube segment 1010.Thus, the various embodiments of the present invention enable thesurgeon to articulate the handle 6 of the device 10 to a moreergonomically comfortable position during the operation about the pivotlinks 1060 and 1070.

Various embodiments of the present invention may also be provided with alocking system 1400 that would enable the surgeon to lock the handle ina desired position relative to the portion of the device inserted intothe trocar 900. More specifically and with reference to FIGS. 12-15, onelocking system embodiment may by supported within a rotatable housingassembly 1402 that is attached to the forward portion 7 of the handle 6.In various embodiments, the housing assembly 1402 may comprise a firsthousing segment 1404 and a second housing segment 1406 that areconstructed to fit together to form the housing 1402. The housingsegments 1404, 1406 may be formed from plastic and be constructed to beretained together by snapping arrangements and/or adhesive, screws, etc.As can be seen in FIG. 7, housing segment 1404 has an ring segment 1408formed therein that is adapted to mate with a similar ring segment (notshown) that is formed in the interior of housing segment 1406 to form anannular ring assembly sized to be received in an annular groove 1410formed in the forward portion 1412 of the handle 6. Such arrangementenables the housing assembly 1402 to be coupled to the handle 6 and befreely rotatable relative thereto.

As can be seen in FIGS. 12 and 13, the housing assembly 1402 houses anactuator assembly in the form of a push button assembly 1420. In variousembodiments, the push button assembly 1420 may have a push buttonportion 1422 and a yoke portion 1424 attached thereto. As can be seen inFIG. 13, the push button portion 1422 is adapted to protrude through ahole 1414 formed in the housing 1402 and the yoke portion 1424 isslidably supported within a cavity 1416 formed in the housing 1402. Theyoke portion 1424 has a pair of legs 1426, 1428 that are separated by anend brace 1430. As can also be seen in FIG. 13, the proximal closuretube segment 1030 is received between the legs 1426, 1428 such that theproximal closure tube segment 1030 can move axially therebetween on theproximal spine tube segment 1110. As can be seen in that Figure, theproximal drive shaft portion 1202 is movably supported within theaxially extending hole 1116 in the proximal spin tube segment 1110.

As can be seen in FIGS. 12 and 13, a cable wheel 1440 is rotatablysupported within a wheel cavity 1442 provided in the proximal spine tubesegment 1110 and extends through an opening 1444 in the proximal closuretube segment 1030. Such arrangement permits the cable wheel 1440 tofreely rotate in wheel cavity 1442. Cable wheel 1440 has an uppercable-receiving groove 1446 and a lower cable-receiving groove 1448formed around its perimeter. A right tension cable 1450 is receivedwithin the lower cable-receiving groove and a left tension cable 1460 isreceived within the upper cable-receiving groove. The right tensioncable 1450 is received within a first groove 1115 formed in the outersurface 1113 of the proximal spine tube segment 1110 and the lefttension cable 1460 is received within a second groove 1117 formed in theouter surface 1113 of the proximal spine tube segment 1110. See FIG. 16.The right tension cable 1440 has a distal end 1442 that is attached tothe right side of the proximal end 1132 of the distal spine tube segment1130 and a proximal end that is attached to the cable wheel 1440.Likewise, the left tension cable 1460 has a distal end 1462 that isattached to the left side of the proximal end 1132 of the distal spinetube segment 1130 and a proximal end that is attached to the cable wheel1440. See FIG. 16. Thus, when the proximal closure tube segment 1030 andhandle 6 is articulated relative to the distal closure tube segment1010, the cable wheel 1440 is caused to rotate within the cable wheelcavity 1442 by virtue of tension cables 1450, 1460.

Various embodiments of the locking assembly also include a disengagablegear assembly 1470 for locking the cable wheel 1440 which ultimatelyprevents the proximal closure tube segment 1030 (and handle 6) fromarticulating relative to the distal closure tube segment 1010. Morespecifically and with reference to FIGS. 13-15, the disengagable gearassembly 1470 comprises a first gear 1472 that is attached to the crossbrace 1430 on the push button assembly 1420. A second mating gear 1474is attached to the end of the cable wheel 1440 and is adapted to beselectively meshed with the first fixed gear 1472. The first gear 1472is biased into meshing engagement by a locking spring 1476 that isjournaled on a retainer prong 1478 protruding from the cross brace 1430and received within a spring cavity formed within the housing assembly.Spring 1476 serves to bias the first and second gears 1472, 1474 intomeshing engagement with each other (e.g., in the “K” direction). Whenthe user pushes the push button 1422 in the “L” direction, the firstgear 1472 is moved out of meshing engagement with the second gear 1474to thereby permit the second gear 1474 and cable wheel 1440 to which itis attached rotate.

The locking assembly 1420 may operate in the following manner. When thefirst and second gears 1472, 1474 are in meshing engagement as shown inFIGS. 13 and 14, the cable wheel 1440 cannot rotate and the right cable1450 and left cable 1460 prevent the proximal closure tube 1030 (andhandle) from articulating about the double pivot pins 1060, 1070relative to the distal closure tube assembly 1010. To unlock thearticulation joint 1050, the user pushes the push button 1422 inwardlyto cause the first gear 1472 to disengage the second gear 1474. The usercan then articulate the proximal closure tube segment 1030 (and handle6) relative to the distal closure tube segment 1010. Aft the surgeon hasarticulated the handle 6 to the desired position, the push button 1422is released and the first gear 1472 is biased into meshing engagementwith the second gear 1474 to lock the articulation joint 1050 in thatposition. To provide the user with further flexibility, it will beunderstood that the housing assembly 1402 and the proximal closure tubesegment 1030 and locking assembly 1420 may be rotated relative to thehandle 6 to provide the user with additional flexibility.

FIGS. 17-22 illustrate one aspect of a motorized drive arrangement forpowering the endocutter 10. Various other motorized drive arrangementssuch as those U.S. patent applications which have been hereinincorporated by reference above in their entirety could also beeffectively employed in various embodiments. As was also mentionedbefore, however, the unique and novel aspects of the present inventionmay also be practiced in connection with mechanically actuated surgicaldevices, without departing from the spirit and scope of the presentinvention. As can be seen in FIG. 7 and FIGS. 17-22, one exemplaryembodiment includes a gear box assembly 200 including a number of gearsdisposed in a frame 201, wherein the gears are connected between theplanetary gear 72 and the pinion gear 124 at the proximal end 1204 ofthe proximal drive shaft portion 1202. As explained further below, thegear box assembly 200 provides feedback to the user via the firingtrigger 20 regarding the deployment of the end effector 12. Also, theuser may provide power to the system via the gear box assembly 200 toassist the deployment of the end effector 12.

In the illustrated embodiment, the firing trigger 18 includes twopieces: a main body portion 202 and a stiffening portion 204. The mainbody portion 202 may be made of plastic, for example, and the stiffeningportion 204 may be made out of a more rigid material, such as metal. Inthe illustrated embodiment, the stiffening portion 204 is adjacent tothe main body portion 202, but according to other embodiments, thestiffening portion 204 could be disposed inside the main body portion202. A pivot pin 209 may be inserted through openings in the firingtrigger pieces 202, 204 and may be the point about which the firingtrigger 20 rotates. In addition, a spring 222 may bias the firingtrigger 20 to rotate in a CCW direction. The spring 222 may have adistal end connected to a pin 224 that is connected to the pieces 202,204 of the firing trigger 18. The proximate end of the spring 222 may beconnected to one of the handle exterior lower side pieces 59, 60.

In the illustrated embodiment, both the main body portion 202 and thestiffening portion 204 includes gear portions 206, 208 (respectively) attheir upper end portions. The gear portions 206, 208 engage a gear inthe gear box assembly 200, as explained below, to drive the main driveshaft 48 and to provide feedback to the user regarding the deployment ofthe end effector 12.

The gear box assembly 200 may include as shown, in the illustratedembodiment, six (6) gears. A first gear 210 of the gear box assembly 200engages the gear portions 206, 208 of the firing trigger 18. Inaddition, the first gear 210 engages a smaller second gear 212, thesmaller second gear 212 being coaxial with a large third gear 214. Thethird gear 214 engages a smaller fourth gear 216, the smaller fourthgear being coaxial with a fifth gear 218. The fifth gear 218 is a 90°bevel gear that engages a mating 90° bevel gear 220 (best shown in FIG.22) that is connected to the pinion gear 124 that drives the main driveshaft 48.

In operation, when the user retracts the firing trigger 18, a sensor(not shown) is activated, which may provide a signal to the motor 65 torotate at a rate proportional to the extent or force with which theoperator is retracting the firing trigger 18. This causes the motor 65to rotate at a speed proportional to the signal from the sensor. Thesensor could be located in the handle 6 such that it is depressed whenthe firing trigger 18 is retracted. Also, instead of a proportional-typesensor, an on/off type sensor may be used.

Rotation of the motor 65 causes the bevel gears 66, 70 to rotate, whichcauses the planetary gear 72 to rotate, which causes, via the driveshaft 76, the ring gear 122 to rotate. The ring gear 122 meshes with thepinion gear 124, which is connected to the proximal drive shaft portion1202. Thus, rotation of the pinion gear 124 drives the drive shaftportion 1202, which transmits through the drive shaft articulation joint1220 to the distal drive shaft portion 1210 which transmits to the shaft36 through gears 1216 and 56 to thereby cause actuation of thecutting/stapling operation of the end effector 12.

Forward rotation of the pinion gear 124 in turn causes the bevel gear220 to rotate, which causes, by way of the rest of the gears of the gearbox assembly 200, the first gear 210 to rotate. The first gear 210engages the gear portions 206, 208 of the firing trigger 20, therebycausing the firing trigger 20 to rotate CCW when the motor 65 providesforward drive for the end effector 12 (and to rotate CCW when the motor65 rotates in reverse to retract the end effector 12). In that way, theuser experiences feedback regarding deployment of the end effector 12 byway of the user's grip on the firing trigger 20. Thus, when the userretracts the firing trigger 20, the operator will experience aresistance related to the deployment of the end effector 12 and, inparticularly, to the forward speed of the motor 65. Similarly, when theoperator releases the firing trigger 20 after the cutting/staplingoperation so that it can return to its original position, the user willexperience a CW rotation force from the firing trigger 18 that isgenerally proportional to the reverse speed of the motor 65. The readerwill appreciate however, that the unique and novel articulating handlearrangement of the present invention may be effectively employed inconnection with a myriad of other powered endoscopic instruments,regardless of the particular handle configuration and/or method oftransmitting power to the drive shaft assembly. Accordingly, theprotections afforded to the various embodiments of the present inventionshould not be limited to the particular, motor/handle arrangementdisclosed herein.

It will be appreciated from the foregoing discussion, that variousembodiments of the present invention represent vast improvements overprior endoscopic instruments. In particular, various embodiments of thepresent invention permit the surgeon or clinician to effectivelyposition the handle portion of the instrument relative to the otherportion of the instrument that is inserted into the patient such thatthe handle is in a more ergonomically comfortable position and theposition of the handle is not dictated by the position of the endeffector.

FIG. 23 depicts a surgical cutting and fastening instrument 2010 that iscapable of practicing various unique benefits of the end effectors anddrive arrangements of the present invention. The surgical instrument2010 depicted in FIG. 23 comprises a handle 2006, a shaft assembly 2008,and an articulating end effector 2300 pivotally connected to the shaftassembly 2008 at an articulation pivot 2014. In various embodiments, thecontrol handle houses a drive motor 2600 and control system generallyrepresented as 2610 therein for controlling the opening and closing ofthe end effector 2300 and the cutting and stapling of the tissue clampedtherein. An articulation control 2016 may be provided adjacent to thehandle 2006 to effect rotation of the end effector 2300 about thearticulation pivot 2014. The handle 2006 of the instrument 2010 mayinclude a closure trigger 2018 and a firing trigger 2020 for actuatingthe end effector 2300. The end effector 2300 is shown separated from thehandle 2006 preferably by an elongate shaft 2008. In one embodiment, aclinician or operator of the instrument 2010 may articulate the endeffector 2300 relative to a proximal portion of the shaft 2008 byutilizing the articulation control 2016, as described in more detail inpending U.S. patent application Ser. No. 11/329,020, filed Jan. 10,2006, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR,now U.S. Pat. No. 7,670,334. Other articulation arrangements could alsobe employed.

As will be discussed in further detail below, various end effectorembodiments include an anvil 2340, which is maintained at a spacing thatassures effective stapling and severing of tissue clamped in the endeffector 2300. In various exemplary embodiments, the handle 2006 mayinclude a pistol grip 2026 towards which a closure trigger 2018 ispivotally drawn by the clinician to cause clamping or closing of theanvil 2340 toward cartridge 2500 seated in an elongate channel 2302 ofthe end effector 2300 to thereby clamp tissue positioned between theanvil 2340 and the staple cartridge 2500. A firing trigger 2020 may besituated farther outboard of the closure trigger 2018. In variousembodiments, once the closure trigger 2018 is locked in the closureposition as further described below, the firing trigger 2020 may rotateslightly toward the pistol grip 2026 so that it can be reached by theoperator using one hand. Then the operator may pivotally draw the firingtrigger 2020 toward the pistol grip 2026 to cause the stapling andsevering of clamped tissue in the end effector 2300. Those of ordinaryskill in the art will readily appreciate however, that other handle anddrive system arrangements may be successfully employed in connectionwith various embodiments described herein and their equivalentstructures without departing from the spirit and scope of the presentinvention.

It will be appreciated that the terms “proximal” and “distal” are usedherein with reference to a clinician gripping the handle 2006 of aninstrument 2010. Thus, the end effector 2300 is distal with respect tothe more proximal handle 2006. It will be further appreciated that, forconvenience and clarity, spatial terms such as “vertical” and“horizontal” are used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and absolute.

FIGS. 23-27 illustrate a unique and novel end effector 2300 of variousembodiments of the present invention adapted for use with a staplecartridge 2500, the basic operation of which is known in the art. Forexample, U.S. Pat. No. 6,978,921, entitled SURGICAL STAPLING INSTRUMENTINCORPORATING AN E-BEAM FIRING MECHANISM, provides more details aboutthe construction of such staple cartridges.

In general, such staple cartridges 2500 include a cartridge body 2502that is divided by a central, elongated slot 2508 which extends from theproximal end 2504 of the cartridge body 2502 towards its tapered outertip 2506. See FIG. 26. The cartridge body 2502 may be fabricated from apolymeric material and be attached to a metal cartridge pan 2510. Aplurality of staple-receiving pockets 2512 are formed within thecartridge body 2502 and are arranged in six laterally spacedlongitudinal rows or “lines” of staples 2514, 2516, 2518, 2520, 2522,2524. See FIG. 28. Positioned within the pockets 2512 arestaple-supporting drivers 2532 which support staples 2534 thereon.Depending upon the location (line) of staple-receiving pockets 2512, thestaple supporting drivers 2532 may support one or two staples 2530thereon. The cartridge body 2502 further includes four longitudinalslots 2503, 2505, 2507, 2509 extending from its proximal end 2504 to itstapered outer tip 2506 for receiving corresponding sled cams 2328 formedon a wedge sled 2326 in the end effector 2300, the construction andoperation of which will discussed in further detail below. See FIG. 27.As the sled cams 2328 are advanced through their respective slots 2503,2505, 2507, 2509 in the cartridge body 2502 from proximal end 2504 todistal end 2506, they contact the staple-supporting drivers 2532associated with those slots and force the staple-supporting drivers 2532and the staples 2534 that they support upward out of the cartridge body2502. See FIG. 29. As the ends of the legs 2536 of the staple 2534contact the pockets 2350 formed in the bottom surface 2341 of the anvil2340, they are folded over to close the staples 2534.

Various end effectors of the present invention include an elongatechannel 2302 that is sized to removably receive and support thecartridge body 2502 and pan 2510 of a disposable cartridge 2500 therein.A knife screw 2304 is rotatably supported in the elongate channel 2302.The knife screw 2304 has a distal end 2306 that has a distal thrustbearing 2308 attached thereto that is rotatably supported by a distalbearing housing 2310 formed in the distal end 2303 of the elongatechannel 2302. See FIG. 26. The knife screw 2304 has a central driveportion 2312 with a helical thread formed thereon. The knife screw 2304further has a smooth extension portion 2314 and a knife screw gear 2316formed thereon or otherwise attached thereto. A proximal thrust bearing2318 is formed or attached to the proximal end 2317 of the knife screw2304. The proximal thrust bearing 2318 is rotatably housed within aproximal bearing housing 2319 supported in a distal spine tube segment2058. The distal spine tube segment 2058 has a pair of columns 2059formed on its distal end that are adapted to be received in verticalslots 2307 formed in the proximal end 2305 of the elongate channel 2302.The columns 2059 may be retained within the slots 2307 in the elongatechannel 2302 by friction, adhesive, or by the distal end of the shafttube 2009. See FIGS. 23 and 26.

Various embodiments of the present invention further include a knifeassembly 2320 that has a knife/sled bearing 2322 that is threaded ontothe threaded portion 2312 of the knife screw 2304. The knife assembly2320 supports a vertically extending blade 2324 and a wedge sled 2326that supports the four sled cams 2328. The reader will understand that,as the knife screw 2304 is rotated in a clockwise direction, the knifeassembly 2320 and the wedge sled 2326 is advanced toward the distal end2303 (direction “A”) of the elongate channel 2302 and, when the knifescrew 2304 is rotated in a counterclockwise direction, the knifeassembly 2320 and wedge sled 2326 is moved toward the proximal end 2305of the channel member 2302 (direction “B”). In addition, the knifeassembly 2320 has a pair of laterally extending deflector tabs 2330protruding therefrom, the purpose of which will be discussed below.

In various embodiments of the present invention, an anvil 2340 ispivotally coupled to the proximal end 2305 of the channel member 2302 bya pair of trunnion tabs 2342 that are sized to be received inoval-shaped pivot holes 2700 provided through the side walls 2309 of theelongate channel 2302. In various embodiments, the anvil 2340 may bestamped from sheet metal or other material such that the trunnion tabs2342 are substantially rectangular or square shaped. In otherembodiments, the anvil 2340 may be molded or machined from othermaterials such that it is rigid in nature and the trunnion tabs or pinsare substantially round. As can be seen in FIGS. 29 and 53, the bottomsurface 2341 of the anvil 2340 has a series of staple forming pockets2350 formed therein. It will be understood that the staple formingpockets 2350 serve to close the staples 2534 as the ends of the staplelegs 2536 are forced into contact therewith. In addition, a longitudinalclearance slot 2343 may be provided in the bottom surface 2341 of theanvil 2340 for receiving the upper end of the knife assembly 2320 andthe guide tabs 2330 therethrough such that the laterally extending guidetabs 2330 serve to urge the anvil 2340 down onto the elongated channel2302 as the knife assembly 2320 and wedge sled 2326 are driven throughthe cartridge 2500 to cut the tissue and deploy the staples 2534.

A drive assembly for operating various embodiments of the end effector2300 will now be described. In various embodiments, a distal drive shaftportion 2402 extends through a drive shaft hole 2061 in the distal spinetube 2058. See FIG. 26. The distal drive shaft portion 2402 may extenddirectly to a drive motor arrangement 2600 in the control handle 2006 orit may be articulated to enable the end effector 2300 to be pivotedrelative to the shaft or closure tube assembly that connects the endeffector 2300 to the control handle 2006.

As can be seen in FIGS. 32-35, in various embodiments of the presentinvention the distal drive shaft portion 2402 has a clutch-receivingportion 2404 and a closure thread 2406 formed thereon. A clutch assembly2410 is slidably received on the clutch-receiving portion 2404 of thedrive shaft portion 2402. In various embodiments, the clutch assembly2410 includes a collet-like tapered clutch member 2412 that has a drivegear 2414 integrally formed on its proximal end 2413. See FIGS. 36 and37. The drive gear 2414 meshes with a transfer gear 2450 that in turnmeshes with the knife screw gear 2316. See FIGS. 30 and 31. Thus, whenthe clutch assembly 2410 drivingly engages the distal drive shaftportion 2402, the drive gear 2414 rotates the transfer gear 2450 which,in turn rotates the knife screw gear 2316.

A series of four tapered sections 2416 are formed on the distal end 2415of the tapered clutch member 2412. A series of male splines 2418 areformed in the interior of the tapered sections 2416. See FIGS. 36 and37. The male splines 2418 are adapted to selectively engage a femalespline section 2408 formed on the distal drive shaft portion 2402 aswill be discussed in further detail below. See FIGS. 32-35. The clutchassembly 2410 further includes a clutch plate 2420 that is received onthe tapered sections 2416 of the tapered clutch member 2412. As can beseen in FIGS. 38 and 39, the clutch plate 2420 has a proximal hubportion 2422 and a distal hub portion 2424 that is separated by a flangeportion 2426. A cylindrical distal hole portion 2428 extends through thedistal hub portion 2424 and a tapered proximal hole 2430 extends throughthe flange portion 2426 and the proximal hub portion 2422. The holeportions 2428, 2430 enable the clutch plate 2420 to be slidably receivedon the drive shaft 2402 and slide onto the tapered clutch member 2412. Aclutch opening spring 2432 is provided between a flange portion 2417formed on the tapered clutch member 2412 and the flange portion 2426 ofthe clutch plate 2420 and a thrust bearing 2434 is also journaled on theclutch-receiving portion 2404 adjacent to the clutch plate 2420. SeeFIGS. 43 and 44.

Also in various embodiments, a closure nut 2440 is received on thedistal drive shaft portion 2402. As can be seen in FIGS. 34, 35, 40 and41, the closure nut 2440 has a threaded hole portion 2442 extendingpartially therethrough to enable it to be threaded onto the closurethread 2406 on the distal drive shaft portion 2402. As can be furtherseen in those Figures, the closure nut 2440 has an upstanding closureramp 2444 protruding therefrom. The top of the closure ramp 2444terminates in a radiused portion 2446 that extends to an upstandingclosure tab 2448 that is adapted to engage a downwardly protrudingclosure hook 2346 formed on the proximal end 2345 of anvil 2340.

More specifically and with reference to FIG. 43, the proximal end 2345of the anvil 2340 has an anvil closure arm portion 2347 protrudingproximally therefrom that terminates in a downwardly extending closurehook 2346. As can also be seen in that Figure, the bottom surface of theanvil closure arm 2347 has a tab relief groove 2348 therein forreceiving the closure tab 2348 when the closure nut 2440 is advanced toits most distal position (shown in FIGS. 49-52). Also in variousembodiments, a closure lock spring 2460 is attached to the bottom of theelongate channel 2302, by mechanical fastener arrangements or adhesive.The closure lock spring 2460 has an upper portion 2462 that terminatesin an upstanding retainer lip 2464. In addition, longitudinallyextending retainer arm 2466 is rigidly attached to the upper portion2462 of the closure lock spring 2460. See FIG. 26.

Various embodiments of the present invention employ an anvil 2340 thatis capable of moving axially and laterally relative to the elongatechannel 2302 prior to being advanced to the closed position. Morespecifically and with reference to FIGS. 42-52, in various embodiments,the elongate channel 2302 is stamped or otherwise formed from sheetmetal or the like and the pivot holes may be punched therein. Suchconstruction leads to reduced manufacturing costs for the end effector.Other embodiments may be machined from rigid materials such as 2416stainless steel such that the trunnion pins are substantially round incross-section. Regardless of which manufacturing method is employed tomanufacture the anvil 2340 and the resulting shape of the trunnion tabs2342, as can be seen in FIGS. 43, 46, 48, 50, and 54, the pivot holes2700 are oval or oblong and serve to afford the trunnion tabs 2342 withthe ability to move axially back and forth and up and down in theircorresponding pivot hole 2700. As can be seen in FIG. 54, the trunniontabs 2342 may have a length “X” of, for example, approximately 0.060inches and a height “Y” of, for example, approximately 0.050 inches. Thepivot holes 2700 have a proximal wall portion 2702, a distal wallportion 2704, an upper wall portion 2706 and a lower wall portion 2708.In various embodiments, for example, the distance “L” between theproximal wall 2702 and the distal wall 2704 may be approximately 0.120inches and the distance “H” between the upper wall portion 2706 andlower wall portion 2708 may be approximately 0.090 inches. See FIG. 54.Those of ordinary skill in the art will appreciate that these distancesand tolerances may, in connection with various embodiments, be somewhatdictated by the manufacturing tolerances attainable by the processesused to manufacture the anvil 2340 and the elongate channel 2302. Inother embodiments, however, the distances “H”, “L”, “X”, and “Y” may besized relative to each other to enable the anvil 2340 to travel along aclosing path that is relatively substantially parallel to the topsurface of a cartridge 2500 supported in the elongate channel 2302. Sucharrangement serves to prevent or minimize the likelihood of tissue frombeing rolled out of between the anvil and the cartridge during clamping.Thus, these dimensions are merely exemplary and are not intended to belimiting. The trunnion tabs 2342 and the pivot holes 2700 may have othersizes, shapes and dimensions relative to each other that differ fromsuch exemplary dimensions given herein that nevertheless enable thosecomponents to operate in the unique and novel manner of variousembodiments of the present invention as described herein.

This ability of the trunnion tabs 2342 to travel within their respectivepivot hole 2700 in the side walls of the 2309 of the elongate channel2302 can be appreciated from reference to FIGS. 42-48. As can be seen ineach of those Figures, the closure nut 2440 is in its distal-most openposition. When in that position, the retainer lip 2464 of the closurelock spring is biased under the closure nut 2440 and does not restrictthe travel thereof. FIGS. 42 and 43 illustrate the trunnion tabs 2342adjacent the proximal end wall portions 2702 of the pivot holes. FIGS.45 and 24 illustrate the trunnion tabs 2342 after they have creptsomewhat midway between the proximal end wall portion 2702 and thedistal end wall portion 2704 of the pivot hole 2700. FIGS. 47 and 48illustrate the trunnion tabs 2342 after they have crept to a positionadjacent the distal end wall portions 2704 of the pivot holes 2700.Thus, in various embodiments, the trunnion tabs 2342 are looselyreceived within their respective pivot holes 2700 and capable of movingaxially, laterally and vertically or in combinations of such directionstherein.

FIGS. 49-52 illustrate the anvil 2340 in a closed position. As can beseen in FIG. 50, the trunnion tabs 2342 are in abutting contact with aproximal end wall portion 2702 of the pivot hole 2700. When in thatposition (i.e., when the trunnion tabs 2342 are held in abutting contactwith proximal end wall portion 2702), the staple-forming pockets 2350 inthe bottom surface 2341 of the anvil 2340 are in axial registration withcorresponding staple-receiving pockets 2512 in the cartridge 2500 seatedin the elongate channel 2302 such that when the staples 2534 are fired,they are correctly formed by the corresponding pockets 2350 in the anvil2340. The anvil 2340 is locked in that position by the retainer lip 2464portion of the closure lock spring 2460 as will be discussed in furtherdetail below.

Also in various embodiments, the anvil 2340 is capable of movinglaterally relative to the elongate channel due to manufacturingtolerances in the fabrication of the trunnion tabs 2342 and the pivotholes 2700. As can be seen in FIGS. 24-26, 42, 45, 49, and 53, invarious embodiments, the anvil 2340 is provided with a pair ofdownwardly extending tissue stops 2344. During the clamping process, thetissue stops 2344 essentially perform two functions. One of thefunctions consists of orienting the tissue 2900 within the end effector2300 so as to prevent the tissue 2900 from extending axially into theend effector 2300 such that it extends beyond the innermost staplepockets 2512 in the cartridge 2500 when seated in the elongate channel2302. See FIG. 45. This prevents tissue 2900 from being cut that is notstapled. The other function performed by the tissue stops 2344 is toaxially align the anvil 2340 relative to the elongate channel 2302 andultimately to the cartridge 2500 received therein. As the anvil 2340 isclosed, the tissue stops 2344 serve to contact corresponding alignmentsurfaces 2720 on the side of the elongate channel 2302 and serve tolaterally align the anvil 2340 relative to the elongate channel 2302when the anvil 2340 is closed and clamping tissue 2900 such that thestaple-forming pockets 2350 in the bottom surface 2341 of the anvil 2340are laterally aligned with the corresponding staple-receiving pockets2512 in the cartridge 2500. See FIGS. 49 and 53.

The operation of various embodiments of the present invention will nowbe described with reference to FIGS. 42-51. FIGS. 42-48 illustrate theclosure nut 2440 in an open position. As can be seen in those Figures,when in the open position, the closure nut 2440 is located such that thehook arm 2346 is permitted to move to various positions relative theretothat enable the anvil 2340 to pivot open to permit tissue 2900 to beinserted between the anvil 2340 and the elongated channel 2302 andcartridge 2500 seated therein. When in this position, the distal end2467 of the retainer arm 2466 that is attached to the closure lockspring 2460 is in contact with a ramp surface 2321 formed on theproximal end of the knife assembly 2320. See FIG. 44. As the knifeassembly 2320 moves proximally, the end of the retainer arm 2466contacts the ramp surface 2321 on the proximal end of the knife assembly2320 and serves to cause the retainer arm 2466 to bias the upper portion2462 of the closure lock spring 2460 downward toward the bottom of theelongate channel 2302. When the knife assembly 2320 moves distally awayfrom the retainer arm 2466, the upper portion 2462 of the closure lockspring 2460 is permitted to spring upward to enable the retainer lip2464 to engage the closure nut 2440 as will be further discussed below.

The reader will appreciate that when the end effector 2300 is in theopen positions depicted in FIGS. 42-48, the user can install adisposable cartridge assembly 2500 in the elongate member 2302. Also,when in those positions, the anvil 2340 may be able to move axially,laterally and vertically relative to the elongate channel 2302. Invarious embodiments, when the drive shaft 2402 is rotated in a firstdirection, the closure thread 2406 thereon threadably drives the closurenut 2440 in the proximal direction (direction “B” in FIG. 30) until theclosure threads 2406 disengage the threaded hole 2442 in the closure nut2440. See FIG. 35. As the closure nut 2440 is driven proximally, theclosure hook 2346 on the anvil closure arm 2347 rides up the ramp 2444of the closure nut 2440 until it rides into the radiused portion 2446and contacts the closure tab 2448. Such movement of the closure nut 2440serves to “pull” the anvil 2340 to the closed position. See FIGS. 49-51.When in that position, the trunnion tabs 2342 are in abutting contactwith the proximal end portion 2702 of the pivot holes 2700 and theretainer lip 2464 of the closure lock spring has engaged the distal end2441 of the closure nut 2440 to retain the anvil 2340 in the fullyclosed and axially aligned position. When also in that position, byvirtue of the contact of the tissue stops 2344 with the alignmentsurfaces 2720 on the side walls 2309 of the elongate channel 2302, theanvil 2340 is laterally aligned with the elongate channel 2302 so thatthe staple forming pockets 2350 in the anvil 2340 are laterally alignedwith corresponding the staple-receiving pockets 2512 in the cartridge2500.

As the closure nut 2440 is driven in the proximal direction, theproximal end 2449 of the closure nut 2440 contacts the thrust bearing2434 which forces the clutch plate 2420 in the proximal directionagainst the force of clutch opening spring 2432. Further travel of theclosure nut 2440 in the proximal direction drives the clutch plate 2420onto the tapered sections 2416 of the tapered clutch member 2412 whichcauses the male splines 2418 therein to engage the female splines 2408on the distal drive shaft portion 2402. Such engagement of the malesplines 2418 in the tapered clutch member 2412 with the female splineson the distal drive shaft portion 2402 causes the tapered clutch member2412 and the drive gear 2414 to rotate with the distal drive shaftportion 2402. Drive gear 2414, in turn, rotates the knife screw gear2316 which causes the knife screw to rotate and drive the knife assemblydistally (“A” direction).

As the knife assembly 2320 is driven distally, it cuts the tissue andthe cams 2328 on the wedge sled 2326 serve to drive the staplesupporting drivers 2532 upward which drive the staples 2534 toward theanvil 2340. As the legs 2536 of the staples 2534 are driven into thecorresponding staple-forming pockets 2350 in the anvil 2340, they arefolded over. See FIG. 29.

When the knife assembly 2320 moves distally, the distal end 2467 of theretainer arm 2466 is no longer in contact with the ramp surface 2321 ofthe knife assembly 2320 which enables the retainer arm 2466 and theupper portion 2462 of the closure lock spring 2460 to spring upwardlywhich further enables the retainer lip 2464 on the closure lock spring2460 to retainingly engage the distal end 2441 of the closure nut 2440to prevent it from moving distally. See FIGS. 50 and 51. By virtue ofits contact with the closure nut 2440 which is in contact with thethrust bearing 2434, the retainer lip 2464 serves to retain the clutchassembly 2410 engaged with the distal drive shaft portion 2402 until theknife assembly 2320 once again returns to contact the distal end 2467 ofthe retainer arm 2464. After the knife assembly 2320 has been driven toits final distal position as shown in FIG. 52, it activates aconventional sensor or contact 2313 mounted within the elongate channel2302 and signals the control motor to stop driving the drive shaft 2402.See FIG. 26. Those of ordinary skill in the art will understand that avariety of different control arrangements could be employed to controlthe drive shaft 2402. For example, when the knife assembly 2310 reachesits distal-most position and activates the sensor 2313, the controlsystem 2610 housed within the handle 2006 could automatically reversethe drive motor 2600 therein and cause the drive shaft portion 2402 andknife screw to reverse direction (e.g., move in the proximal “B”direction). In various other embodiments, the control system 2610 maysimply stop the drive motor 2600 and then require the surgeon toactivate a button 2030 to cause the motor 2600 to reverse. In stillother arrangements, the control system 2610 may institute apredetermined timed delay between the time that the reversing sensor2313 is activated and the time that the motor 2600 is reversed.

As the knife assembly 2320 moves in the proximal direction on the knifescrew 2304, the closure threads 2406 on the drive shaft 2402 begin toscrew back into the threaded hole portion 2442 in the closure nut 2440.During this process, the ramp surface 2321 of the knife assembly 2320again contacts the distal end 2467 of the retainer arm 2466 which servesto bias the upper portion 2462 of the closure lock spring 2460 towardthe bottom of the elongate channel 2302 to permit the retainer lip 2464to disengage from the distal end 2441 of the closure nut 2440 therebypermitting the clutch opening spring 2432 to bias the clutch assembly2410 and closure nut 2440 distally. As the closure nut 2440 movesdistally, the closure hook 2346 on the anvil 2340 rides up the ramp 2444on the closure nut 2440 until the closure nut 2440 reaches the openposition wherein the closure tab 2448 is received within the tab reliefgroove 2348 in the bottom surface 2341 of the anvil 2340 and the closurenut 2440 moves the anvil assembly 2372 to the open position. A secondconventional sensor or contact 2315 is mounted within the proximal endportion 2305 of the elongate channel 2302 for sensing when the closurenut 2440 is in the open position and communicates with the motor tocause it to stop. See FIG. 26.

As indicated above, a variety of different motor/control arrangementsmay be employed to power the drive shaft portion 2402. For example, invarious embodiments when the closure trigger 2018 is actuated, that is,drawn in by a user of the instrument 2010, the motor 2600 may commencethe above described closing process. A third sensor 2315′ may be used inthe elongate channel member 2302 to sense when the closure nut 2404 hasmoved into the closed position (shown in FIG. 50). When the third sensor2315′ senses that the closure nut 2440 is in that position, the sensor2315′ may cause the motor 2600 to stop rotating. Thereafter, if thesurgeon is satisfied with the clamping of the tissue in the end effector2300, the surgeon may actuate the firing trigger 2020 or other actuatorarrangement to activate the motor 2600 to rotate the drive shaft 2402which drives the knife screw 2304 in the above-mentioned manner.

Another drive arrangement is depicted in FIGS. 55-57. In thisembodiment, a closure wedge 2440′ is axially moved by a manual driveassembly 2800. More specifically and with reference to FIG. 55, theproximal end 2802 of the drive shaft 2402′ is has a drive gear 2810attached thereto. Although a variety of different gear and motorarrangements may be employed, the drive gear 2810 may be oriented forselective meshing engagement with a gear train or transmission assemblygenerally designated as 2820 that is ultimately driven my motor 2600.The drive shaft 2402′ is movably supported by a proximal spine tubesegment 2820 that is pivotally coupled to the distal spine tube segment2058 as described in various of the U.S. patent applicationsincorporated by reference herein above and rigidly attached to thehousing portions 2007 of the handle 2006. In other arrangements whereinthe end-effector is not capable of articulating travel, the distal spinetube 2058 may be longer and rigidly coupled to the sections 2007 of thehandle 2006. Regardless of which spine tube arrangement is employed, thedrive shaft 2402′ is axially and rotatably received therein such thatthe drive shaft 2402′ can move axially in the distal and proximaldirections and also rotate when engaged with the motor 2600.

Various methods may be employed to mechanically move the drive shaft2402′ in the distal and proximal directions. For example, as shown inFIG. 55, a thrust bearing assembly 2830 may be attached to the driveshaft 2402′ for selective contact by a control linkage assembly 2840. Ascan be seen in that Figure, the control linkage assembly 2840 may belinked to the closure trigger 2018 and capable of biasing the driveshaft 2402′ in the proximal (“B”) direction when the closure 2018 ispivoted in the proximal direction, the control linkage assembly contactsthe thrust bearing and pulls the drive shaft 2402 in the proximaldirection.

Turning next to FIGS. 56 and 57, as can be seen in these Figures, thedistal end 2406′ of the drive shaft is rotatably supported within aclosure wedge 2440′ that is similar in construction as closure nut 2440as described above. In particular, the closure wedge 2440′ has aproximal hole 2442′ and a distal hole portion 2443′ that is larger indiameter than the proximal hole portion 2442′. The distal end 2406′ ofthe drive shaft 2402′ is rotatably supported in the distal hole portion2443′ by a bearing 2445′. The distal end portion 2406′ of the driveshaft 2406′ is longer than the hole 2403′ such that as the drive shaft2402′ moves distally and proximally, it cannot become disengaged fromthe wedge 2440′. The wedge 2440′ also has a closure ramp portion 2444′,a radiused portion 2446′, and a closure tab 2448′ formed thereon. As canbe seen in FIGS. 56 and 57, a drive gear 2414′ is attached to the driveshaft 2402′ and is adapted to mesh with the transfer gear 2450 that isin meshing engagement with the knife screw gear 2316.

In these embodiments, when the user wishes to close the anvil 2340, theuser moves the closure trigger 2018 toward the handle 2006. This actioncauses the control linkage assembly 2840 to move the drive shaft 2402′in the proximal direction and pull the wedge 2440′ proximally. As thewedge 2440′ moves proximally, the closure hook 2346 on the proximal end2345 of the anvil 2340 rides up the ramp portion 2444′ thereon until theit is seated in the radiused portion 2446′ of the wedge 2440′. The wedge2440′ gets biased proximally until the retainer lip 2464 engages thedistal end 2441′ of the wedge 2440′ as shown in FIG. 57. When in thatposition, the trunnion tabs 2342 of the anvil 2340 are in engagementwith the proximal end portion 2702 of pivot holes 2700 as describedabove. Also when in that position, the drive gear 2414′ is now inmeshing engagement with the transfer gear 2450 (not shown in FIG. 57)that is in meshing engagement with the knife screw gear 2316. Thus, whenthe drive shaft 2402′ is rotated by activating the control motor, thedrive gear 2414′ serves to drive the transfer gear 2450 and the knifescrew gear 2316 to drive the knife assembly 2320 in the above describedmanner. The closure lock spring 2460 and the motor control sensors inthe elongate channel operate in the above described manner.

After the drive motor 2600 has reversed the rotation of the drive shaft2402′ which drives the knife assembly 2320 proximally back to itsstarting position wherein the ramp surface 2321 contacts the distal end2467 of the retainer arm 2466, the lip 2464 of the closure lock spring2460 is biased downwardly to permit the wedge 2440′ to move distally.The user can then release the closure trigger 2018 which is springbiased to the unactuated position shown in FIG. 23. As the closuretrigger 2018 returns to the unactuated position, the control linkageassembly 2840 permits the drive shaft 2402′ and wedge 2440′ to movedistally and open the anvil 2340 in the above-described manner.

The reader will understand that various embodiments of the presentinvention provide vast improvements over prior end effectors and endeffector drive arrangements. In particular, the various unique and noveldrive system of various embodiments of the present invention permit theanvil and elongated channel components of the end effector to bemanufactured utilizing materials and processes that are more economicalthan other materials and processes used in the past without sacrificingperformance. In addition, by providing an anvil that can travel along aclosing path that is substantially parallel to the elongate channel andstaple cartridge housed therein, reduces the likelihood that the tissuewill be rolled out of position during the initial closing of the anvil.

Any patent, publication, or information, in whole or in part, that issaid to be incorporated by reference herein is incorporated herein onlyto the extent that the incorporated material does not conflict withexisting definitions, statements, or other disclosure material set forthin this document. As such the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.

The invention which is intended to be protected is not to be construedas limited to the particular embodiments disclosed. The embodiments aretherefore to be regarded as illustrative rather than restrictive.Variations and changes may be made by others without departing from thespirit of the present invention. Accordingly, it is expressly intendedthat all such equivalents, variations and changes which fall within thespirit and scope of the present invention as defined in the claims beembraced thereby.

What is claimed is:
 1. A stapling assembly, comprising: a proximal end;a distal end; a first jaw comprising a first bottom surface; a secondjaw rotatably coupled to said first jaw about a pivot, wherein saidsecond jaw is movable between an unclamped position and a fully-clampedposition, and wherein said second jaw comprises a second bottom surface;a staple cartridge comprising a plurality of staples removably storedtherein; a first motor-driven system configured to engage said secondbottom surface of said second jaw to move said second jaw toward saidfully-clamped position; and a second motor-driven system configured toengage said second jaw and said first bottom surface of said first jawand hold said second jaw in said fully-clamped position, wherein saidsecond motor-driven system is actuatable after said first motor-drivensystem has been actuated.
 2. The stapling assembly of claim 1, whereinsaid first motor-driven system is configured to engage said second jawon a proximal side of said pivot.
 3. The stapling assembly of claim 2,wherein said second motor-driven system is configured to engage saidsecond jaw on a distal side of said pivot.
 4. The stapling assembly ofclaim 1, wherein said first motor-driven system comprises a camconfigured to slide proximally under said second jaw to move said secondjaw toward said fully-clamped position.
 5. The stapling assembly ofclaim 4, wherein said second motor-driven system comprises a firingmember configured to move distally to move said second jaw into saidfully-clamped position during a staple firing stroke, and wherein saidfiring member comprises a first cam configured to engage said first jawand a second cam configured to engage said second jaw during said staplefiring stroke.
 6. The stapling assembly of claim 1, wherein said secondmotor-driven system comprises a knife configured to incise tissuepositioned intermediate said first jaw and said second jaw.
 7. Thestapling assembly of claim 1, wherein one of said first motor-drivensystem and said second motor-driven system is configured to receive arotary output from a rotary motor.
 8. The stapling assembly of claim 1,wherein said first motor-driven system is configured to contact saidsecond jaw and maintain contact with said second jaw when said secondmotor-driven system engages said second jaw.
 9. A stapling assembly,comprising: a proximal end; a distal end; a first jaw comprising a firstundersurface; a second jaw rotatably coupled to said first jaw about apin, wherein said second jaw is movable between an unclamped positionand a closed position, and wherein said second jaw comprises a secondundersurface; a staple cartridge comprising a plurality of staplesremovably stored therein; a first motor-driven system configured toengage said second undersurface of said second jaw to move said secondjaw toward said closed position; and a second motor-driven systemconfigured to engage said second jaw and said first undersurface of saidfirst jaw and position said second jaw in said closed position, whereinsaid second motor-driven system is actuatable only after said firstmotor-driven system has been actuated.
 10. The stapling assembly ofclaim 9, wherein said first motor-driven system is configured to engagesaid second jaw on a proximal side of said pin.
 11. The staplingassembly of claim 10, wherein said second motor-driven system isconfigured to engage said second jaw on a distal side of said pin. 12.The stapling assembly of claim 9, wherein said first motor-driven systemcomprises a cam configured to slide proximally under said second jaw tomove said second jaw toward said closed position.
 13. The staplingassembly of claim 12, wherein said second motor-driven system comprisesa firing member configured to move distally to move said second jaw intosaid closed position during a staple firing stroke, and wherein saidfiring member comprises a first cam configured to engage said first jawand a second cam configured to engage said second jaw during said staplefiring stroke.
 14. The stapling assembly of claim 9, wherein said secondmotor-driven system comprises a knife configured to incise tissuepositioned intermediate said first jaw and said second jaw.
 15. Thestapling assembly of claim 9, wherein one of said first motor-drivensystem and said second motor-driven system is configured to receive arotary output from a rotary motor.
 16. The stapling assembly of claim 9,wherein said first motor-driven system is configured to contact saidsecond jaw and maintain contact with said second jaw when said secondmotor-driven system engages said second jaw.
 17. A stapling assembly,comprising: a proximal end; a distal end; a first jaw comprising a firstbottom surface; a second jaw rotatably coupled to said first jaw about apivot, wherein said second jaw is movable between an unclamped positionand a fully-clamped position, and wherein said second jaw comprises asecond bottom surface; a staple cartridge comprising a plurality ofstaples removably stored therein; a first motor-driven system configuredto engage said second bottom surface of said second jaw to move saidsecond jaw toward said fully-clamped position; a second motor-drivensystem configured to engage said second jaw and said first bottomsurface of said first jaw and hold said second jaw in said fully-clampedposition; and means for preventing said second motor-driven system frombeing operated before said first motor-driven system is operated. 18.The stapling assembly of claim 17, wherein said first motor-drivensystem is configured to engage said second jaw proximally with respectto said pivot.
 19. The stapling assembly of claim 18, wherein saidsecond motor-driven system is configured to engage said second jawdistally with respect to said pivot.
 20. The stapling assembly of claim17, wherein said first motor-driven system comprises a cam configured toslide proximally under said second jaw to move said second jaw towardsaid fully-clamped position.
 21. The stapling assembly of claim 20,wherein said second motor-driven system comprises a firing memberconfigured to move distally to move said second jaw into saidfully-clamped position during a staple firing stroke, and wherein saidfiring member comprises a first cam configured to engage said first jawand a second cam configured to engage said second jaw during said staplefiring stroke.
 22. The stapling assembly of claim 17, wherein saidsecond motor-driven system comprises a knife configured to incise tissuepositioned intermediate said first jaw and said second jaw.
 23. Thestapling assembly of claim 17, wherein one of said first motor-drivensystem and said second motor-driven system is configured to receive arotary output from a rotary motor.
 24. The stapling assembly of claim17, wherein said first motor-driven system is configured to contact saidsecond jaw and maintain contact with said second jaw when said secondmotor-driven system engages said second jaw.